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无人机在滑翔段的最陡下滑轨迹飞行中,受到空气扰动和气流作用,存在航向偏移,需要进行航向校正控制。传统方法采用固定攻角下滑的方法进行姿态校正,在最大升阻比下滑模面控制的稳定性不好。提出一种基于Terminal滑模面下标准能量梯度修正的最陡下滑轨迹中无人机的航向校正控制算法。构建无人机在最陡下滑轨迹中的数学模型,进行最陡下滑轨迹设计,在Terminal滑模面中采用标准能量梯度纵向制导方法进行航向偏差校正,实现飞行稳定性控制。仿真结果表明,采用该控制方法对无人机的航向校正纠偏性能较好,舵角稳定在要求的范围之内,提高了无人机的飞行稳定控制性能。
UAVs in the steepest gliding glide path glide trajectory, subject to air disturbance and air flow, there is a heading offset, the need for heading correction control. The traditional method uses the method of fixed angle of attack to glide to correct the attitude, and the stability of the sliding mode control at maximum lift-drag ratio is not good. A heading control algorithm for UAV based on the standard energy gradient correction under Terminal sliding mode is proposed. The mathematic model of UAV steepest descent trajectory was constructed and the steepest descent trajectory was designed. In the Terminal sliding mode, the standard energy gradient longitudinal guidance method was used to correct the heading deviation and achieve the flight stability control. The simulation results show that the proposed method can effectively correct the heading correction of the UAV, and the rudder angle is stable within the required range, which improves the flight stability control performance of the UAV.